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Journal articles on the topic 'Multibody Dynamics Simulation'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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1

Chen, Gang, Weigong Zhang, and Bing Yu. "Multibody dynamics modeling of electromagnetic direct-drive vehicle robot driver." International Journal of Advanced Robotic Systems 14, no. 5 (2017): 172988141773189. http://dx.doi.org/10.1177/1729881417731896.

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Collaborative dynamics modeling of flexible multibody and rigid multibody for an electromagnetic direct-drive vehicle robot driver is proposed in the article. First, spatial dynamic equations of the direct-drive vehicle robot driver are obtained based on multibody system dynamics. Then, the shift manipulator dynamics model and the mechanical leg dynamics model are established on the basis of the multibody dynamics equations. After establishing a rigid multibody dynamics model and conducting finite element mesh and finite element discrete processing, a flexible multibody dynamics modeling of the electromagnetic direct-drive vehicle robot driver is established. The comparison of the simulation results between rigid and flexible multibody is performed. Simulation and experimental results show the effectiveness of the presented model of the electromagnetic direct-drive vehicle robot driver.

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Kuivaniemi, Teemu, Antti Mäntylä, Ilkka Väisänen, Antti Korpela, and Tero Frondelius. "Dynamic Gear Wheel Simulations using Multibody Dynamics." Rakenteiden Mekaniikka 50, no. 3 (2017): 287–91. http://dx.doi.org/10.23998/rm.64944.

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Simulation of the gear train is an important part of the dynamic simulation of the power train of a medium speed diesel engine. In this paper, the advantages of dynamic gear wheel simulation as a part of the flexible multibody simulation of a complete power train are described. The simulation is performed using AVL EXCITE Power Unit.

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3

Lau, Albert, and Inge Hoff. "Simulation of Train-Turnout Coupled Dynamics Using a Multibody Simulation Software." Modelling and Simulation in Engineering 2018 (July 22, 2018): 1–10. http://dx.doi.org/10.1155/2018/8578272.

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With the advancements of computing power, multibody simulation (MBS) tool is used to study not only train dynamics but also more realistic phenomena such as train-track coupled dynamics. However, train-turnout coupled dynamics within MBS is still hard to be found. In this paper, a train-turnout coupled model methodology using a MBS tool GENSYS is presented. Dynamic track properties of a railway track are identified through numerical receptance test on a simple straight track model. After that, the identified dynamic track properties are adopted in a switch and crossing (turnout) to simulate train-turnout coupled dynamic interaction including parameters such as rail bending stiffness and sleeper mass variation along the turnout. The train-turnout coupled dynamic interaction is compared to the dynamic interaction simulated from a widely accepted moving mass train-turnout model. It is observed that the vertical and lateral normal forces for the new train-turnout coupled model and the conventional moving mass train-turnout model are in good agreement. In addition, the new train-turnout coupled model can provide additional track dynamics results. It is concluded that the train-turnout coupled model can provide a more realistic train-turnout dynamic interaction compared to the moving mass train-turnout model.

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4

Kim, Dave, and Namkug Ku. "Heave Compensation Dynamics for Offshore Drilling Operation." Journal of Marine Science and Engineering 9, no. 9 (2021): 965. http://dx.doi.org/10.3390/jmse9090965.

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In this study, dynamic response analysis of a heave compensation system for offshore drilling operations was conducted based on multibody dynamics. The efficiency of the heave compensation system was computed using simulation techniques and virtually confirmed before being applied to drilling operations. The heave compensation system was installed on a semi-submersible and comprises several interconnected bodies with various joints. Therefore, a dynamics kernel based on multibody dynamics was developed to perform dynamic response analysis. The recursive Newton–Euler formulation was adopted to construct the equations of motion for the multibody system. Functions of the developed dynamics kernel were verified by comparing them with those from other studies. Hydrostatic force, linearized hydrodynamic force, and pneumatic and hydraulic control forces were considered the external forces acting on the platform of the semi-submersible rig and the heave compensation system. The dynamic simulation was performed for the heave compensation system of the semi-submersible rig for drilling operations up to 3600 m water depth. From the results of the simulation, the efficiency of the heave compensation system was evaluated to be approximately 96.7%.

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Zhu, C. X., Yong Xian Liu, Guang Qi Cai, and L. D. Zhu. "Dynamics Simulation Analysis of Flexible Multibody of Parallel Robot." Applied Mechanics and Materials 10-12 (December 2007): 647–51. http://dx.doi.org/10.4028/www.scientific.net/amm.10-12.647.

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Take a kind of 3-TPT parallel robot as an example, the model of flexible multibody of parallel machine tool is built by using multibody dynamics simulation software ADAMS and finite element analysis software ANSYS. And dynamics equation of flexible body in spatial is also set up, after that the dynamics simulation is carried out. Then the simulation results of rigid bodies are compared with flexible ones, and the results show that the forces applied on flexible bodies appear high nonlinear, so the simulation results of flexible multibody system are more authentic, nicety and can reflect actual dynamics characteristic of parallel robot.

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Teixeira, Ricardo R., Sérgio R. D. S. Moreira, and S. M. O. Tavares. "Multibody Dynamics Simulation of an Electric Bus." Procedia Engineering 114 (2015): 470–77. http://dx.doi.org/10.1016/j.proeng.2015.08.094.

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7

KOYAMA, Yutaka, Masahiro WATANABE, Keisuke KOZONO, and Nobuyuki KOBAYASI. "416 Multibody Dynamics Simulation of Sheet Flutter." Proceedings of the Dynamics & Design Conference 2004 (2004): _416–1_—_416–6_. http://dx.doi.org/10.1299/jsmedmc.2004._416-1_.

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8

Omar, Mohamed A. "Chain Drive Simulation Using Spatial Multibody Dynamics." Advances in Mechanical Engineering 6 (January 2014): 378030. http://dx.doi.org/10.1155/2014/378030.

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9

Sharf, I., and G. M. T. D'Eleuterio. "Parallel simulation dynamics for elastic multibody chains." IEEE Transactions on Robotics and Automation 8, no. 5 (1992): 597–606. http://dx.doi.org/10.1109/70.163784.

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10

Sun, Ao, and Ting Qiang Yao. "Modeling and Analysis of Planar Multibody System Containing Deep Groove Ball Bearing with Slider-Crank Mechanism." Advanced Materials Research 753-755 (August 2013): 918–23. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.918.

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With the rotating machinery system developing toward high speed, high precision, and high reliability direction, ball bearing dynamic performance have a critical impact to dynamics characteristics of support system. Based on multibody dynamics theory and contact dynamics method,and considering the ball and ring raceway 3 d dynamic contact relationship, using ADAMS dynamics analysis software to establish the multibody dynamics model of crank slider mechanism containing ball bearing dynamic contact relationship.The simulation analysis of the dynamic performance of the ball bearing and the crank slider mechanism dynamics response, and the influence of dynamic performance for considering ball bearing rotating mechanical system dynamics analysis provides a reference method.The simulation analysts the influence of dynamic performance of the ball bearing to the crank slider mechanism dynamics response. It provides a reference method for rotating mechanical system dynamics analysis considering the dynamic performance of the ball bearing.

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11

Zhao, Juan Juan. "Analysis and Study of Coupled Vibration between Trains and 80m-Railway Tied Arch Bridge." Applied Mechanics and Materials 638-640 (September 2014): 925–28. http://dx.doi.org/10.4028/www.scientific.net/amm.638-640.925.

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In this paper, passenger and freight bi-purpose railway tied arch bridge is studied. Dynamic simulation train model is built on multibody system dynamics approach, and dynamic bridge model is built by using the finite element method.Coupled vibration response analysis of the tied arch bridge based on co-simulation technology of ANASYS and SIMPACK between multibody system dynamics and finite element is made. By calculating, analyses and assess are made of the bridge when trains are moving at different speeds. Results provide theoretical support and refer to the same type of bridge design.

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12

Chung, Shu, and Edward J. Haug. "Real-Time Simulation of Multibody Dynamics on Shared Memory Multiprocessors." Journal of Dynamic Systems, Measurement, and Control 115, no. 4 (1993): 627–37. http://dx.doi.org/10.1115/1.2899190.

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This paper presents a recursive variational formulation for real-time simulation of multibody mechanical systems on shared memory parallel computers. Static scheduling algorithms are employed to evenly distribute computation on shared memory multi-processors. Based on the methods developed, a general-purpose dynamic simulation program is shown to simulate multibody systems faster than real-time, enabling operator-in-the-loop simulation of ground vehicles and robots.

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Dlugoš, Jozef, and Pavel Novotný. "Effective Implementation of Elastohydrodynamic Lubrication of Rough Surfaces into Multibody Dynamics Software." Applied Sciences 11, no. 4 (2021): 1488. http://dx.doi.org/10.3390/app11041488.

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Currently, multibody dynamics simulations are moving away from issues exclusive to dynamics to more multiphysical problems. Most mechanical systems contain contact pairs that influence the dynamics of the entire mechanism, such as friction loss, wear, vibration and noise. In addition, deformation often affects the interaction between the contact bodies. If that is the case, this effect must be considered. However, a major disadvantage arises in that it leads to an increase in the number of degrees of freedom and the computational time. Often, the general-purpose multibody dynamics software does not take into account advanced phenomena, such as a lubricated contact pair. This paper can serve as a guide to implementing the elastohydrodynamic lubrication of rough surfaces into general-purpose multibody dynamics software (in this case MSC Adams), which remains challenging. In this paper, the deformation shape reconstruction of the reduced flexible bodies is described, as well as a solution to the increase in the computational speed issues thereby caused. To alleviate this burden, advanced sensitivity analysis techniques are used. In this paper, parallel computing has been employed. The proposed method leads to reasonable computational times for the multibody dynamics simulations, including elastohydrodynamic lubrication. The proposed method is applied to the multibody dynamics simulation of the piston–liner interaction of an internal combustion engine.

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14

Duan, Yue Chen, Xia Li, Wei Wei Zhang, Guo Ning Liu, and Ting Ting Wang. "Impact Dynamics of Flexible Multibody System Based on Continuous Contact Force Method." Applied Mechanics and Materials 744-746 (March 2015): 1628–34. http://dx.doi.org/10.4028/www.scientific.net/amm.744-746.1628.

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The impact dynamics of spatial multi-link flexible multibody system is studied based on the continuous contact force method (CCFM). According to the rigid-flexible coupling dynamic theory of flexible multibody system, the rigid-flexible coupling continuous dynamic equations of the system are established by using the recursive Lagrange method. The impact dynamic equations of the system are stylized derived on the use of CCFM basing on the nonlinear spring-damper model. The contact separation criterion is given to achieve the conversion and calculation of the dynamic model for the system at different stages. An impact dynamic simulation example for a two-link planar flexible multibody system is given, as well as the global dynamic response. The results show that the impact dynamic solving method based on CCFM can be used for the global impact dynamics of multi-link flexible multibody systems. The dynamic behavior of the system changes dramatically during the impact process. The large overall motion, the small deformation motion and the impact effect are coupled.

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15

Lavendel, Egon, and Alexander Janushevskis. "IMITA-TOOL FOR SIMULATION OF MULTIBODY SYSTEMS DYNAMICS." Vehicle System Dynamics 17, sup1 (1988): 215–18. http://dx.doi.org/10.1080/00423118808969262.

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16

Anitescu, Mihai. "Optimization-based simulation of nonsmooth rigid multibody dynamics." Mathematical Programming 105, no. 1 (2005): 113–43. http://dx.doi.org/10.1007/s10107-005-0590-7.

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17

Kwak, JunYoung, TaeYoung Chun, SangJoon Shin, and Olivier A. Bauchau. "Domain decomposition approach to flexible multibody dynamics simulation." Computational Mechanics 53, no. 1 (2013): 147–58. http://dx.doi.org/10.1007/s00466-013-0898-8.

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18

Koch, Michael W., and Sigrid Leyendecker. "Structure Preserving Simulation of Monopedal Jumping." Archive of Mechanical Engineering 60, no. 1 (2013): 127–46. http://dx.doi.org/10.2478/meceng-2013-0008.

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The human environment consists of a large variety of mechanical and biomechanical systems in which different types of contact can occur. In this work, we consider a monopedal jumper modelled as a three-dimensional rigid multibody system with contact and simulate its dynamics using a structure preserving method. The applied mechanical integrator is based on a constrained version of the Lagranged’Alembert principle. The resulting variational integrator preserves the symplecticity and momentum maps of the multibody dynamics. To ensure the structure preservation and the geometric correctness, we solve the non-smooth problem including the computation of the contact configuration, time and force instead of relying on a smooth approximation of the contact problem via a penalty potential. In addition to the formulation of non-smooth problems in forward dynamic simulations, we are interested in the optimal control of the monopedal high jump. The optimal control problem is solved using a direct transcription method transforming it into a constrained optimisation problem, see [14].

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19

Qin, Wen Jie, D. W. Jia, and Q. Y. Liu. "Multibody System Dynamics Simulation of Loads in Main Bearings of Crankshafts." Materials Science Forum 628-629 (August 2009): 55–60. http://dx.doi.org/10.4028/www.scientific.net/msf.628-629.55.

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In this paper, as for the calculation of loads in main bearings in a crankshaft system, multibody system dynamics is used to simulate the dynamic characteristics of the system composed of flexible and rigid bodies, coupled with hydrodynamic lubrication analysis further. The multibody system model with flexible crankshaft of one V8 diesel engine is built in ADAMS software, in which the bearings are modeled as rigid constrained bearings and hydrodynamic bearings respectively. The resulted loads in main bearings using different models are compared. The results show that the deformation of crankshafts has great effect on the values of loads in main bearings, and the bearing loads in different directions tend to uniformity due to the hydrodynamic lubrication.

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20

Shabana, Ahmed A., Marcello Berzeri, and Jalil R. Sany. "Numerical Procedure for the Simulation of Wheel/Rail Contact Dynamics." Journal of Dynamic Systems, Measurement, and Control 123, no. 2 (2000): 168–78. http://dx.doi.org/10.1115/1.1369109.

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In the multibody formulation of the contact problem, the kinematic contact constraint conditions are formulated in terms of the normal and tangents to the contact surfaces. Using the assumption of nonconformal contact, the second time derivatives of the contact constraints, which are required in the augmented Lagrangian formulation of the multibody equations, contain third derivatives of the position vectors of the contact points with respect to the surface parameters that describe the geometry of the contact surfaces. These derivatives must be accurately calculated in order to develop a robust numerical algorithm for solving the multibody differential and algebraic equations of the contact problem. An important application for the procedure developed in this paper is the wheel/rail interaction. In order to allow a general description for the wheel and rail profiles, the spline function representation is used. A multi-layer spline function algorithm is used in order to ensure accurate calculation of the third derivatives with respect to the surface parameters when a small number of nodal points is used. The problems of continuity of the derivatives and smoothness of these functions are addressed. The proposed method allows using wheel and rail profiles obtained from direct measurements. Numerical results show that this multibody approach, whic leads to accurate value of the normal force at the contact, can capture the coupling between the vertical and the lateral motion of the wheelset.

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21

Luo, Qing Guo, Xu Dong Wang, Zheng Bo Gong, and Feng Wang. "Dynamics Simulation of the Crank and Connecting Rod Mechanism of Diesel Engine." Advanced Materials Research 354-355 (October 2011): 438–41. http://dx.doi.org/10.4028/www.scientific.net/amr.354-355.438.

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Based on the virtual prototyping technology and flexible multibody system dynamic theory, the author founded the rigid-flexible coupling multibody dynamic analysis model of the crank and connecting rod mechanism of diesel engine, combining the means of 3D solid modeling, finite element analysis and multi-body dynamic simulation. Through the simulation, the dynamic loads in the working cycle of the mechanism are obtained, which provides reference for dynamic stress and fatigue analysis of the mechanism.

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22

Lommen, Stef, Gabriel Lodewijks, and Dingena L. Schott. "Co-simulation framework of discrete element method and multibody dynamics models." Engineering Computations 35, no. 3 (2018): 1481–99. http://dx.doi.org/10.1108/ec-07-2017-0246.

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Purpose Bulk material-handling equipment development can be accelerated and is less expensive when testing of virtual prototypes can be adopted. However, often the complexity of the interaction between particulate material and handling equipment cannot be handled by a single computational solver. This paper aims to establish a framework for the development, verification and application of a co-simulation of discrete element method (DEM) and multibody dynamics (MBD). Design/methodology/approach The two methods have been coupled in two directions, which consists of coupling the load data on the geometry from DEM to MBD and the position data from MBD to DEM. The coupling has been validated thoroughly in several scenarios, and the stability and robustness have been investigated. Findings All tests clearly demonstrated that the co-simulation is successful in predicting particle–equipment interaction. Examples are provided describing the effects of a coupling that is too tight, as well as a coupling that is too loose. A guideline has been developed for achieving stable and efficient co-simulations. Originality/value This framework shows how to achieve realistic co-simulations of particulate material and equipment interaction of a dynamic nature.

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23

Sosa-Méndez, Deira, Esther Lugo-González, Manuel Arias-Montiel, and Rafael A. García-García. "ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform." International Journal of Advanced Robotic Systems 14, no. 4 (2017): 172988141771982. http://dx.doi.org/10.1177/1729881417719824.

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The mechanical structure known as Stewart–Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the Stewart–Gough platform, many details about these topics are still a challenging problem. In this work, the use of automatic dynamic analysis of multibody systems software for the kinematic and dynamic analysis of the Stewart–Gough platform is proposed. Moreover, a co-simulation automatic dynamic analysis of multibody systems (ADAMS)-MATLAB is developed for motion control of the Stewart–Gough platform end-effector. This computational approach allows the numerical solution for the kinematics, dynamics, and motion control of the Stewart–Gough platform and a considerable reduction on the analytical and programming effort. The obtained results in the three topics (kinematics, dynamics, and control) are validated by comparing them with analytical results reported in the literature. This kind of computational approach allows for the creation of virtual prototypes and saves time and resources in the development of Stewart–Gough platform-based robots applications.

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Liu, Yi, Guo Ding Chen, Ji Shun Li, and Yu Jun Xue. "Flexible Multibody Simulation Approach in the Analysis of Friction Winder." Advanced Materials Research 97-101 (March 2010): 2594–97. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.2594.

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The main objective of this study was to model and simulate a multi-flexible-body three-dimensional model for researching the Multi – rope Friction Winder system. By introducing the multi-flexible-body dynamics method, a multi-flexible-body virtual prototype of the winder is been builded with the RecurDyn software package. Kinematics and dynamics characteristic date are obtained by computer-aided dynamic simulation of virtual Multi – rope friction winder. The result is in accord with theoretical analysis. The research work will provide a powerful tool and useful method for the design of economic and credible elevator system. The approach can be generalized to analysis other flexible drive fields.

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Felez, J., C. Vera, I. San Jose, and R. Cacho. "BONDYN: A Bond Graph Based Simulation Program for Multibody Systems." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (1990): 717–27. http://dx.doi.org/10.1115/1.2896200.

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This paper presents the BONDYN program (BONd graph DYNamics) as a procedure for simulating dynamic systems. It is based on bond graph theory and provides a means for treating dynamic systems that simultaneously include various physical domains. The program makes use of the bond graph module handling facility in order to build a general model starting from simple submodels. Although the latter can be defined by the user, a library has been appended to the preprocessor which includes some of these submodels. Special developments for simulating multibody systems can be found among them. Once the overall bond graph has been assembled the program builds the state equations of the system in the form of a subroutine that can be accepted by a high level language compiler, which is FORTRAN 77 in this case. Simulation outputs can be shown either graphically or in a table.

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Wang, Jian Feng, Ying Jiu Liu, Shun Chuan Gao, Song Li, and Feng Feng. "Two Friction’s Laws for Lagrange’s Equations of Multibody System with Dry Friction." Advanced Materials Research 328-330 (September 2011): 1697–700. http://dx.doi.org/10.4028/www.scientific.net/amr.328-330.1697.

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With the first kind of Lagrange’s equations, this paper presents the dynamical equations of multibody system with friction constraints. The generalized forces of friction forces are described in the form of matrix. Considering numerical method is widespread to analyze the characteristics of multibody system dynamics, this paper compares the two friction laws for solving the multibody system problem with dry friction constraints. Using Baumgarte’s and augmentation method, the differential-algebraic equations are given in the form of differential equations matrix to raise calculating efficiency. The friction force for Coulomb’s friction law and the continuous friction law is denoted, which converts subsection smooth systems to continuous smooth systems. An example is given to evaluate the validity of continuous law of friction. The numerical simulation shows that continuous law of friction is an effective method to process multibody system friction problem. The work in this paper also provides a new direction to research the non-smooth multibody system dynamics equation.

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Tang, Ai Hua. "Modeling and Validation of MBS Using Joint Force Actuator in ADAMS Car." Advanced Materials Research 482-484 (February 2012): 2257–60. http://dx.doi.org/10.4028/www.scientific.net/amr.482-484.2257.

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With the advent of multibody dynamics software (ADAMS) , it has become one of the main simulation techniques to build a multibody system (MBS) in order to evaluate the dynamics performance. The modeling of some component parts such as anti-roll bars and torsion beam rear suspensions is always difficult for the unique structural and non-linear characteristics.A joint force actuator based on multibody dynamics was introduced to represent the component within suspension systems. The kinematics analysis of the torsion beam rear suspension was carried out to validate accuracy and rationality by means of joint force actuators in ADAMS/Car. The result shows that the joint force actuator can be used in the MBS modeling and simulation analysis of non-linear characteristics conveniently.

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Rahikainen, Jarkko, Francisco González, Miguel Ángel Naya, Jussi Sopanen, and Aki Mikkola. "On the cosimulation of multibody systems and hydraulic dynamics." Multibody System Dynamics 50, no. 2 (2020): 143–67. http://dx.doi.org/10.1007/s11044-020-09727-z.

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Abstract The simulation of mechanical devices using multibody system dynamics (MBS) algorithms frequently requires the consideration of their interaction with components of a different physical nature, such as electronics, hydraulics, or thermodynamics. An increasingly popular way to perform this task is through co-simulation, that is, assigning a tailored formulation and solver to each subsystem in the application under study and then coupling their integration processes via the discrete-time exchange of coupling variables during runtime. Co-simulation makes it possible to deal with complex engineering applications in a modular and effective way. On the other hand, subsystem coupling can be carried out in a wide variety of ways, which brings about the need to select appropriate coupling schemes and simulation options to ensure that the numerical integration remains stable and accurate. In this work, the co-simulation of hydraulically actuated mechanical systems via noniterative, Jacobi-scheme co-simulation is addressed. The effect of selecting different co-simulation configuration options and parameters on the accuracy and stability of the numerical integration was assessed by means of representative numerical examples.

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GAO, Haiping. "Unilateral Multibody Dynamics Modeling and Simulation of Frog-hammer." Journal of Mechanical Engineering 46, no. 17 (2010): 68. http://dx.doi.org/10.3901/jme.2010.17.068.

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Suzuki, Ryutaro, Takeshi Kamitani, Masaki Omiya, and Hiroaki Hoshino. "2605 Simulation of Occiput Impact with Multibody Dynamics Analysis." Proceedings of The Computational Mechanics Conference 2013.26 (2013): _2605–1_—_2605–3_. http://dx.doi.org/10.1299/jsmecmd.2013.26._2605-1_.

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SUZUKI, Takashi. "841 Simulation of Timing Belt Vibration by Multibody Dynamics." Proceedings of the Dynamics & Design Conference 2012 (2012): _841–1_—_841–6_. http://dx.doi.org/10.1299/jsmedmc.2012._841-1_.

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Pennestrì, E., P. P. Valentini, and L. Vita. "Multibody dynamics simulation of planar linkages with Dahl friction." Multibody System Dynamics 17, no. 4 (2007): 321–47. http://dx.doi.org/10.1007/s11044-007-9047-5.

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Pond, B., and I. Sharf. "Dynamics simulation of multibody chains on a transputer system." Concurrency: Practice and Experience 8, no. 3 (1996): 235–49. http://dx.doi.org/10.1002/(sici)1096-9128(199604)8:3<235::aid-cpe201>3.0.co;2-f.

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34

Heckmann, Andreas. "Representation and Simulation of Smart Structures in Multibody Dynamics." PAMM 2, no. 1 (2003): 128–29. http://dx.doi.org/10.1002/pamm.200310049.

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35

Jaiswal, Suraj, Jussi Sopanen, and Aki Mikkola. "Efficiency comparison of various friction models of a hydraulic cylinder in the framework of multibody system dynamics." Nonlinear Dynamics 104, no. 4 (2021): 3497–515. http://dx.doi.org/10.1007/s11071-021-06526-9.

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AbstractDynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account systems of other physical nature, such as hydraulic actuators. In such systems, the nonlinearity and numerical stiffness introduced by the friction model of the hydraulic cylinders can be an important aspect to consider in the modeling because it can lead to poor computational efficiency. This paper couples various friction models of a hydraulic cylinder with the equations of motion of a hydraulically actuated multibody system in a monolithic framework. To this end, two static friction models, the Bengisu–Akay model and Brown–McPhee model, and two dynamic friction models, the LuGre model and modified LuGre model, are considered in this work. A hydraulically actuated four-bar mechanism is exemplified as a case study. The four modeling approaches are compared based on the work cycle, friction force, energy balance, and numerical efficiency. It is concluded that the Brown–McPhee approach is numerically the most efficient approach and it is well able to describe usual friction characteristics in dynamic simulation of hydraulically actuated multibody systems.

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Cavacece, M., E. PennestrÌ, and R. Sinatra. "Experiences in Teaching Multibody Dynamics." Multibody System Dynamics 13, no. 3 (2005): 363–69. http://dx.doi.org/10.1007/s11044-005-0723-z.

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Языков, Владислав, and Vladislav Yazykov. "Numerical simulation of train dynamics in real time mode." Bulletin of Bryansk state technical university 2015, no. 2 (2015): 123–26. http://dx.doi.org/10.12737/22912.

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Numerical simulation of train dynamics is a complex problem. It requires the application of different fields of mechanics such as multibody system dynamics, contact mechanics, fluid dynamics for finding solutions of adequate accuracy. The approach for the real time simulation of train dynamics by using the program package “Universal Mechanism” and its application to the development of train driving simulator are presented.

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Cyril, X., J. Angeles, and A. Misra. "DYNAMICS OF FLEXIBLE MULTIBODY MECHANICAL SYSTEMS." Transactions of the Canadian Society for Mechanical Engineering 15, no. 3 (1991): 235–56. http://dx.doi.org/10.1139/tcsme-1991-0014.

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In this paper the formulation and simulation of the dynamical equations of multibody mechanical systems comprising of both rigid and flexible-links are accomplished in two steps: in the first step, each link is considered as an unconstrained body and hence, its Euler-Lagrange (EL) equations are derived disregarding the kinematic couplings; in the second step, the individual-link equations, along with the associated constraint forces, are assembled to obtain the constrained dynamical equations of the multibody system. These constraint forces are then efficiently eliminated by simple matrix multiplication of the said equations by the transpose of the natural orthogonal complement of kinematic velocity constraints to obtain the independent dynamical equations. The equations of motion are solved for the generalized accelerations using the Cholesky decomposition method and integrated using Gear’s method for stiff differential equations. Finally, the dynamical behaviour of the Shuttle Remote Manipulator when performing a typical manoeuvre is determined using the above approach.

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Walz, Nico-Philipp, and Michael Hanss. "Fuzzy Arithmetical Analysis of Multibody Systems with Uncertainties." Archive of Mechanical Engineering 60, no. 1 (2013): 109–25. http://dx.doi.org/10.2478/meceng-2013-0007.

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The consideration of uncertainties in numerical simulation is generally reasonable and is often indicated in order to provide reliable results, and thus is gaining attraction in various fields of simulation technology. However, in multibody system analysis uncertainties have only been accounted for quite sporadically compared to other areas. The term uncertainties is frequently associated with those of random nature, i.e. aleatory uncertainties, which are successfully handled by the use of probability theory. Actually, a considerable proportion of uncertainties incorporated into dynamical systems, in general, or multibody systems, in particular, is attributed to so-called epistemic uncertainties, which include, amongst others, uncertainties due to a lack of knowledge, due to subjectivity in numerical implementation, and due to simplification or idealization. Hence, for the modeling of epistemic uncertainties in multibody systems an appropriate theory is required, which still remains a challenging topic. Against this background, a methodology will be presented which allows for the inclusion of epistemic uncertainties in modeling and analysis of multibody systems. This approach is based on fuzzy arithmetic, a special field of fuzzy set theory, where the uncertain values of the model parameters are represented by socalled fuzzy numbers, reflecting in a rather intuitive and plausible way the blurred range of possible parameter values. As a result of this advanced modeling technique, more comprehensive system models can be derived which outperform the conventional, crisp-parameterized models by providing simulation results that reflect both the system dynamics and the effect of the uncertainties. The methodology is illustrated by an exemplary application of multibody dynamics which reveals that advanced modeling and simulation techniques using some well-thought-out inclusion of the presumably limiting uncertainties can provide significant additional benefit.

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Tang, Zhao, Xiaolin Yuan, Xin Xie, Jie Jiang, and Jianjun Zhang. "Implementing railway vehicle dynamics simulation in general-purpose multibody simulation software packages." Advances in Engineering Software 131 (May 2019): 153–65. http://dx.doi.org/10.1016/j.advengsoft.2018.12.003.

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Richard, M. J. "Dynamic Simulation of Multibody Mechanical Systems Using the Vector-Network Model." Transactions of the Canadian Society for Mechanical Engineering 12, no. 1 (1988): 21–30. http://dx.doi.org/10.1139/tcsme-1988-0004.

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Pressing technological problems have created a growing interest in the development of dynamic models for the digital simulation of multibody systems. This paper describes a new approach to the problem of motion prediction. An extension of the “vector-network” method to rigid body systems in three-dimensional space is introduced. The entire procedure is a basic application of concepts of graph theory in which laws of vector dynamics are combined. The analytical procedure was successfully implemented within a general-purpose digital simulation program since, from a minimal definition of the mechanism, it will automatically predict the behavior of the system as output, thereby giving the impression that the equations governing the motion of the mechanical system have been completely formulated and solved by the computer. Simulations of the response of a rail vehicle which demonstrate the validity, applicability and self-formulating aspect of the automated model are provided.

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Blanco-Claraco, Jose-Luis, Antonio Leanza, and Giulio Reina. "A general framework for modeling and dynamic simulation of multibody systems using factor graphs." Nonlinear Dynamics 105, no. 3 (2021): 2031–53. http://dx.doi.org/10.1007/s11071-021-06731-6.

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AbstractIn this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multibody systems. Although the motion of multibody systems is considered to be a well-studied problem and various methods have been proposed for its solution, a unified approach providing an intuitive interpretation is still pursued. We describe how to build factor graphs to model and simulate multibody systems using both, independent and dependent coordinates. Then, batch optimization or a fixed lag smoother can be applied to solve the underlying optimization problem that results in a highly sparse nonlinear minimization problem. The proposed framework has been tested in extensive simulations and validated against a commercial multibody software. We release a reference implementation as an open-source C++ library, based on the GTSAM framework, a well-known estimation library. Simulations of forward and inverse dynamics are presented, showing comparable accuracy with classical approaches. The proposed factor graph-based framework has the potential to be integrated into applications related with motion estimation and parameter identification of complex mechanical systems, ranging from mechanisms to vehicles, or robot manipulators.

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Cosenza, Chiara, Vincenzo Niola, and Sergio Savino. "A mechanical hand for prosthetic applications: multibody model and contact simulation." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 232, no. 8 (2018): 819–25. http://dx.doi.org/10.1177/0954411918787548.

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The dynamical behavior study of a mechanical hand is a fundamental issue to verify its possible application as a prosthetic hand. Simulation approaches are widely used to predict the dynamics of mechanical components. In the context of mechanical hands, the multibody model represents a useful tool to predict the finger dynamics and therefore the phalanx rotations before the prototyping. The phalanx rotations drive the finger closure sequence and, consequently, influence the grasping ability of the whole mechanical hand. This article discusses the main theoretical aspects dealing with the design of a mechanical hand for prosthetic application and the solutions offered by multiple simulation approaches.

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Jang, Jin-Seok, and Jeong-Hyun Sohn. "59269 DYNAMICS SIMULATION OF OFFSHORE WIND POWER SYSTEM SUBJECTED TO WAVE EXCITATION(Multibody System Analysi)." Proceedings of the Asian Conference on Multibody Dynamics 2010.5 (2010): _59269–1_—_59269–5_. http://dx.doi.org/10.1299/jsmeacmd.2010.5._59269-1_.

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Zhao, Ding Xuan, Ying Zhao, and Ying Jie Li. "Modeling and Simulation of Tractor and Aircraft Multibody System." Advanced Materials Research 466-467 (February 2012): 640–44. http://dx.doi.org/10.4028/www.scientific.net/amr.466-467.640.

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The dynamics equation of tractor and aircraft multibody system is developed using Lagrange method. Tire model represent by spring and damper is used to analyze ride comfort for tractor and aircraft. In order to achieve effective numerical solution, the dynamics equation is solved by Runge-Kutta method. Typical towing operation is simulated, and the result provided analysis for towing force and ride comfort, also provided validation for the design of tractor.

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Mishchenko, Elena, and Vladimir Mishchenko. "Exploring the CAD model of the manipulator using CAD Translation and Simscape Multibody." E3S Web of Conferences 279 (2021): 03014. http://dx.doi.org/10.1051/e3sconf/202127903014.

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The possibilities of the dynamic research of the manipulator CAD-model after its translation into Simscape Multibody using CAD Translation are considered. The results of the simulation are presented. The described approach to modeling allows you to reproduce the dynamics of a real physical object.

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Baharudin, Ezral, Asko Rouvinen, Pasi Korkealaakso, Marko K. Matikainen, and Aki Mikkola. "Real-time analysis of mobile machines using sparse matrix technique." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 230, no. 4 (2016): 615–25. http://dx.doi.org/10.1177/1464419316635324.

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The use of modern multibody simulation techniques enables the description of complex products, such as mobile machinery, with a high level of detail while still solving the equations of motion in real time. Using the appropriate modelling and implementation techniques, the accuracy of real-time simulation can be improved considerably. Conventionally, in multibody system dynamics, equations of motion are implemented using the full matrices approach that does not consider the sparsity feature of matrices. With this implementation approach, numerical efficiency decreases when sparsity increases. In this study, a numerical procedure based on semi-recursive and augmented Lagrangian methods for real-time dynamic simulation is introduced. To enhance computing efficiency, an equation of motion is implemented by employing the sparse matrix technique.

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Yae, K. H., T. C. Lin, and S. T. Lin. "Constrained Multibody Dynamics Library Within EASY5." SIMULATION 62, no. 5 (1994): 329–37. http://dx.doi.org/10.1177/003754979406200507.

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Rahmati, Seyed Mohammadali, and Alireza Karimi. "A Nonlinear CFD/Multibody Incremental-Dynamic Model for A Constrained Mechanism." Applied Sciences 11, no. 3 (2021): 1136. http://dx.doi.org/10.3390/app11031136.

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Numerical analysis of a multibody mechanism moving in the air is a complicated problem in computational fluid dynamics (CFD). Analyzing the motion of a multibody mechanism in a commercial CFD software, i.e., ANSYS Fluent®, is a challenging issue. This is because the components of a mechanism have to be constrained next to each other during the movement in the air to have a reliable numerical aerodynamics simulation. However, such constraints cannot be numerically modeled in a commercial CFD software, and needs to be separately incorporated into models through the programming environment, such as user-defined functions (UDF). This study proposes a nonlinear-incremental dynamic CFD/multibody method to simulate constrained multibody mechanisms in the air using UDF of ANSYS Fluent®. To testify the accuracy of the proposed method, Newton–Euler dynamic equations for a two-link mechanism are solved using Matlab® ordinary differential equations (ODEs), and the numerical results for the constrained mechanisms are compared. The UDF results of ANSYS Fluent® shows good agreement with Matlab®, and can be applied to constrained multibody mechanisms moving in the air. The proposed UDF of ANSYS Fluent® calculates the aerodynamic forces of a flying multibody mechanism in the air for a low simulation cost than the constraint force equation (CFE) method. The results could have implications in designing and analyzing flying robots to help human rescue teams, and nonlinear dynamic analyses of the aerodynamic forces applying on a moving object in the air, such as airplanes, birds, flies, etc.

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Wu, Han, Zhengping Wang, Zhou Zhou, and Rui Wang. "Modeling and Simulation for Multi-Rotor Fixed-Wing UAV Based on Multibody Dynamics." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 37, no. 5 (2019): 928–34. http://dx.doi.org/10.1051/jnwpu/20193750928.

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Accurate dynamic modeling lays foundation for design and control of UAV. The dynamic model for the multi-rotor fixed-wing UAV was looked into and it was divided into fuselage, air-body, multi-rotors, vertical fin, vertical tail and control surfaces, based on the multibody dynamics. The force and moment model for each body was established and derived into the Lagrange equation of the second king by virtual work. By electing quaternion as generalized coordinate and introducing Lagrangian multiplier, the dynamic modeling was deduced and established. Finally, the comparison between the simulation results and the experimental can be found that the present dynamic model accurately describes the process of dynamic change of this UAV and lay foundation for the control of UAV.

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